Crane, transportation method, and plate member manufacturing method

Abstract

A crane, a transportation method, and a plate member manufacturing method are disclosed. There is provided a crane for performing handling and transportation of a plate member, and the crane includes: a holding mechanism configured to lift and hold the plate member; a drive mechanism configured to move the holding mechanism at least horizontally; an image acquisition mechanism configured to acquire an image of the plate member such that the image includes a feature portion of the plate member; and a control mechanism configured to detect the feature portion from the image, calculate a position of the plate member from a position of the feature portion, and adjust a horizontal position of the holding mechanism based on the position of the plate member.

1 . A crane for performing handling and transportation of a plate member, the crane comprising:
 a holding mechanism configured to lift and hold the plate member;   a drive mechanism configured to move the holding mechanism at least horizontally;   an image acquisition mechanism configured to acquire an image of the plate member such that the image includes a feature portion of the plate member; and   a control mechanism configured to detect the feature portion from the image, calculate a position of the plate member from a position of the feature portion, and adjust a horizontal position of the holding mechanism based on the position of the plate member.   
     
     
         2 . The crane according to  claim 1 , wherein:
 the feature portion is a marking provided at a predetermined position on the plate member; and   the control mechanism calculates a gravitational center position of the plate member as the position of the plate member from a dimension of the plate member and a position of the marking.   
     
     
         3 . The crane according to  claim 1 , further comprising:
 a self-position detecting mechanism configured to detect a horizontal central position of the holding mechanism, wherein   the control mechanism gives a drive command to the drive mechanism such that a distance between a gravitational center position of the plate member and the central position of the holding mechanism is equal to or less than a threshold.   
     
     
         4 . The crane according to  claim 1 , further comprising:
 a traveling rail provided on a ceiling of a building where the plate member is stored, wherein   the drive mechanism to which the holding mechanism is attached is moved along the traveling rail such that the holding mechanism is moved horizontally.   
     
     
         5 . The crane according to  claim 4 , wherein
 the image acquisition mechanism is attached to the drive mechanism.   
     
     
         6 . A transportation method for performing handling and transportation of a plate member, the transportation method comprising:
 acquiring an image of the plate member such that the image includes a feature portion of the plate member;   detecting the feature portion from the image and calculating a position of the plate member from a position of the feature portion;   adjusting a horizontal position of a holding mechanism based on the position of the plate member, the holding mechanism being configured to lift and hold the plate member; and   lifting and transporting the plate member after the horizontal position of the holding mechanism is adjusted.   
     
     
         7 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 1  in a manufacturing step of manufacturing the plate member. 
     
     
         8 . The crane according to  claim 2 , further comprising:
 a self-position detecting mechanism configured to detect a horizontal central position of the holding mechanism, wherein   the control mechanism gives a drive command to the drive mechanism such that a distance between a gravitational center position of the plate member and the central position of the holding mechanism is equal to or less than a threshold.   
     
     
         9 . The crane according to  claim 2 , further comprising:
 a traveling rail provided on a ceiling of a building where the plate member is stored, wherein   the drive mechanism to which the holding mechanism is attached is moved along the traveling rail such that the holding mechanism is moved horizontally.   
     
     
         10 . The crane according to  claim 3 , further comprising:
 a traveling rail provided on a ceiling of a building where the plate member is stored, wherein   the drive mechanism to which the holding mechanism is attached is moved along the traveling rail such that the holding mechanism is moved horizontally.   
     
     
         11 . The crane according to  claim 8 , further comprising:
 a traveling rail provided on a ceiling of a building where the plate member is stored, wherein   the drive mechanism to which the holding mechanism is attached is moved along the traveling rail such that the holding mechanism is moved horizontally.   
     
     
         12 . The crane according to  claim 9 , wherein
 the image acquisition mechanism is attached to the drive mechanism.   
     
     
         13 . The crane according to  claim 10 , wherein
 the image acquisition mechanism is attached to the drive mechanism.   
     
     
         14 . The crane according to  claim 11 , wherein
 the image acquisition mechanism is attached to the drive mechanism.   
     
     
         15 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 2  in a manufacturing step of manufacturing the plate member. 
     
     
         16 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 3  in a manufacturing step of manufacturing the plate member. 
     
     
         17 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 4  in a manufacturing step of manufacturing the plate member. 
     
     
         18 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 5  in a manufacturing step of manufacturing the plate member. 
     
     
         19 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 8  in a manufacturing step of manufacturing the plate member. 
     
     
         20 . A plate member manufacturing method for performing handling and transportation of the plate member by use of the crane according to  claim 9  in a manufacturing step of manufacturing the plate member.